/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_WORLD_VIEWER_H
#define COLLISION_WORLD_VIEWER_H

#include "ObjectStruct.h"
#include "KinematicModel\Point.h"

#include <stdio.h>

#define SCALING 10

#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif

#include "LinearMath/btAlignedObjectArray.h"
#include <vector>

class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;


class CollisionWorldViewer : public PlatformDemoApplication
{

	//keep the collision shapes, for deletion/cleanup
	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;

	btBroadphaseInterface*	m_broadphase;

	btCollisionDispatcher*	m_dispatcher;

	btConstraintSolver*	m_solver;

	btDefaultCollisionConfiguration* m_collisionConfiguration;
	
	btRigidBody* firstFinger;
	btRigidBody* secondFinger;
	btRigidBody* hand;

	public:

	double cubeSize;

	CollisionWorldViewer()
	{

		cubeSize = 1;
		firstFinger = NULL;
		secondFinger = NULL;
		hand = NULL;
	}

	CollisionWorldViewer(double cubeSize){

		this->cubeSize = cubeSize*(SCALING/2);		 

	}

	virtual ~CollisionWorldViewer()
	{
		exitPhysics();
	}
	
	void	initPhysics();
	void	initPhysics(Point target);

	void	exitPhysics();

	void addGround(double y);

	void addDefaultSizedRigidBody(Point p);

	void addSphere(Point p, double r);
	
	double addHand( double xc, double yc, double zc, Point graspingPoint1, Point graspingPoint2, double fingerSize, double fingerLength, double graspWidth, double handHeight, double handLength, double teta1, double teta2, double teta3);

	btRigidBody* addCollisionBox(double posX, double posY, double posZ, double sizeX, double sizeY, double sizeZ, double roll, double pitch, double yaw);

	double getBestGraspingPose(double centroidX, double centroidY, double centroidZ, double graspX, double graspY, double graspZ, double fingerSize, double fingerLength, double graspWidth, double handHeight, double handLength, int policy, double beta);
	
	void removeHand();

	int checkCollisions();

	virtual void clientMoveAndDisplay();

	virtual void displayCallback();
	virtual void	clientResetScene();
	
	static DemoApplication* Create()
	{
		CollisionWorldViewer* CWV = new CollisionWorldViewer;
		CWV->myinit();
		CWV->initPhysics();
		return CWV;
	}

	
};

#endif //COLLISION_WORLD_VIEWER_H

